池瑞楠, 胡跃明, 胡终须. 基于解耦控制的非完整移动机器人实时轨迹跟踪[J]. 机器人, 2001, 23(3): 256-260..
CHI Rui-nan, HU Yue-ming, HU Zhong-xu. REAL-TIME TRAJECTORY TRACKING OF NONHOLONOMIC MOBILE ROBOT BASED ON DECOUPLING CONTROL TECHNIQUES. ROBOT, 2001, 23(3): 256-260..
Abstract：This paper addresses the real-time implementation problem for the trajectory tracking of nonholonomic mobile robot. A tracking control scheme is first proposed for general nonlinear systems based on the input/output decoupling technique,and the application of this tracking control method in the two-wheel driven mobile robot is then studied. Furthermore,the implementation platform of a two-wheel driven mobile robot is developed to perform the real-time trajectory tracking algorithms,and the experiment results do show the efficiency of the proposed nonlinear tracking algorithm.
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